Realization of natural dynamic walking using the angular momentum information

Pages: 1476 - 1481
Published: May 13, 1990
Abstract
In biped locomotion systems, the angular momentum of the whole system can be taken as a good index, as seen from the law of conservation of angular momentum. A control method which divides the walking into motions in the sagittal plane and in the lateral plane has been adopted. For motion in the sagittal plane, the angular momentum is placed close to a smooth reference function given in advance by controlling the ankle torque of the supporting...
Paper Details
Title
Realization of natural dynamic walking using the angular momentum information
Published Date
May 13, 1990
Journal
Pages
1476 - 1481
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